Practice, practice, practice. 
Seriously, I could show you (or better yet, get one of my pro friends to show you), but to tell you how in print? Not really. Maybe there are some videos online? Or maybe someone at the paint store could show you when you go there to buy good paint?
But mostly, it’s just practice. Try cutting-in to an imaginary line in the middle of the wall, where you’re going to paint over it anyway. Do that a bunch, until you can get a nice, clean, straight line.
I painted a lot of bad cuts before I got the hang of it. I’m still not very good, compared to my buddies.
And even with that, it still comes out better and hella faster than tape. YMMV.
Here’s my best attempt:
Start with a good quality angled & tapered 2" brush and high quality paint. (Pros can cut in with any damn thing, but it’s easier to use a small brush to start with.)
Dip the brush into the paint and then drag one side lightly against the rim of your paint bucket to remove the excess. You want just enough paint - not too much, not too little.
Lightly press the short end of the brush against the wall you’re painting, about a half-inch away from the corner, and sort of slide/twist the brush into the corner. What you want is for the brush to splay out into a thin line of bristles, with that thin line right at the corner you’re painting into.
Then just paint straight down the edge.
When you’ve painted as far as you can in one movement, do it all over again.
Keep a clean, damp rag handy to clean up any spots on the ceiling.
ETA: And when I say corner, I mean corner where two walls or wall/ceiling meet, not necessarily the actual corner where 3 meet up.